4 Repair
4.7.3 Changing the motor or driving belt of axes 5 and 6
96 3HAC021111-001 Revision: B
4.7.3 Changing the motor or driving belt of axes 5 and 6
See foldout 9 in the list of spare parts.
To dismantle 1. Dismantle the wrist as described in section Dismantling the wrist on page 94.
2. Dismantle the drive mechanism according to section Dismantling the complete
drive mechanism of axes 5 and 6 on page 95.
3. Undo screws <9> and remove the appropriate motor.
4. If the driving belt is to be changed, both motors must be removed.
5. Undo screws <9> and remove plate <7>.
To assemble 1. Install the driving belts.
2. Mount the plate <7> using screws <9>.
NOTE!
Do not forget the nuts of the motors.
3. Install the motors.
NOTE!
There are two different types of motors, (Elmo and Yaskawa) The different motors are not
compatible. Make sure to replace with correct model!
4. Push the motors in sideways to tension the belts. Use tool 3HAA 7601-050.
Tighten screws <9> to a torque of 4.1 Nm.
5. Rotate the drive shafts. Check the tension on the belt.
6. Install the drive mechanism as described in section Dismantling the complete
drive mechanism of axes 5 and 6 on page 95.
7. Mount the wrist according to section Dismantling the wrist on page 94.
8. Calibrate the robot as specified in section Calibration information on page 131.
Tightening torque Screws for motors and plate, item <9>:4.1 Nm.
Tool
To adjust the belt tension: 3HAA 7601-050
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